Rest-to-Rest Motion for Planar Multi-Link Flexible Manipulator Through Backward Recursion
نویسندگان
چکیده
منابع مشابه
Rest-to-Rest Motion for Planar Multi-Link Flexible Manipulator Through Backward Recursion
In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular equilibrium position, in a pre-fixed desired travelling time. The results hold without considering internal elastic damping effect, using a classical c...
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We present an experimental validation of a recently proposed solution to the problem of finding the input torque command that provides rest-to-rest motion in a given time for a one-link flexible arm. The basic idea is to design an auxiliary output such that the associated input-output transfer function has no zeros. Planning a smooth interpolating trajectory for this output imposes a unique res...
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The control problem of time-optimal, rest-to-rest slewing of a flexible spacecraft through a large angle is considered. The flexible spacecraft is modeled as a linear, elastic, undamped, nongyroscopic system suitable for analysis of planar rotational maneuvers. Minimum-time open-loop planar maneuvers are studied. The control histories are found to be bang-bang with multiple switches in each con...
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In this paper, the preferred region of design parameters for quasi-normalized equations of single-axis attitude control of rigid spacecraft using pulse-width pulse-frequency modulator (PWPFM) is presented for rest-to-rest maneuvers. Using the quasi-normalized equations for attitude control reduces the system parameters, that is, the moment of inertia, the filter gain, and the maximum torque of ...
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A procedure for obtaining robust time-optimal command profiles for multi-mode flexible spacecraft is presented. The command profiles are required to move a spacecraft from rest-to-rest with zero residual vibration. Furthermore, the commands are subject to a robustness constraint in an attempt to keep the residual vibration at a low level in the presence of modeling errors. The robustness constr...
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ژورنال
عنوان ژورنال: Journal of Dynamic Systems, Measurement, and Control
سال: 2004
ISSN: 0022-0434,1528-9028
DOI: 10.1115/1.1649976